Automating Vehicles by Deep Reinforcement Learning using Task Separation with Hill Climbing

Within the context of autonomous driving a model-based reinforcement learning algorithm is proposed for the design of neural network-parameterized controllers. Classical model-based control methods, which include sampling- and lattice-based algorithms and model predictive control, suffer from the trade-off between model complexity and computational burden required for the online solution of expensive optimization or search problems at every short sampling time. To circumvent this trade-off, a 2-step procedure is motivated: first learning of a controller during offline training based on an arbitrarily complicated mathematical system model, before online fast feedforward evaluation of the trained controller. The contribution of this paper is the proposition of a simple gradient-free and model-based algorithm for deep reinforcement learning using task separation with hill climbing (TSHC). In particular, (i) simultaneous training on separate deterministic tasks with the purpose of encoding many motion primitives in a neural network, and (ii) the employment of maximally sparse rewards in combination with virtual velocity constraints (VVCs) in setpoint proximity are advocated.Comment: 10 pages, 6 figures, 1 tabl

Identification of Alternative Transcripts Encoding the Essential Murine Gammaherpesvirus Lytic Transactivator RTA

The essential immediate early transcriptional activator RTA, encoded by gene 50, is conserved among all characterized gammaherpesviruses. Analyses of a recombinant murine gammaherpesvirus 68 (MHV68) lacking both of the known gene 50 promoters (G50DblKo) revealed that this mutant retained the ability to replicate in the simian kidney epithelial cell line Vero but not in permissive murine fibroblasts following low-multiplicity infection. However, G50DblKo replication in permissive fibroblasts was partially rescued by high-multiplicity infection. In addition, replication of the G50DblKo virus was rescued by growth on mouse embryonic fibroblasts (MEFs) isolated from IFN-α/βR(−/−) mice, while growth on Vero cells was suppressed by the addition of alpha interferon (IFN-α). 5′ rapid amplification of cDNA ends (RACE) analyses of RNAs prepared from G50DblKo and wild-type MHV68-infected murine macrophages identified three novel gene 50 transcripts initiating from 2 transcription initiation sites located upstream of the currently defined proximal and distal gene 50 promoters. In transient promoter assays, neither of the newly identified gene 50 promoters exhibited sensitivity to IFN-α treatment. Furthermore, in a single-step growth analysis RTA levels were higher at early times postinfection with the G50DblKo mutant than with wild-type virus but ultimately fell below the levels of RTA expressed by wild-type virus at later times in infection. Infection of mice with the MHV68 G50DblKo virus demonstrated that this mutant virus was able to establish latency in the spleen and peritoneal exudate cells (PECs) of C57BL/6 mice with about 1/10 the efficiency of wild-type virus or marker rescue virus. However, despite the ability to establish latency, the G50DblKo virus mutant was severely impaired in its ability to reactivate from either latently infected splenocytes or PECs. Consistent with the ability to rescue replication of the G50DblKo mutant by growth on type I interferon receptor null MEFs, infection of IFN-α/βR(−/−) mice with the G50DblKo mutant virus demonstrated partial rescue of (i) acute virus replication in the lungs, (ii) establishment of latency, and (iii) reactivation from latency. The identification of additional gene 50/RTA transcripts highlights the complex mechanisms involved in controlling expression of RTA, likely reflecting time-dependent and/or cell-specific roles of different gene 50 promoters in controlling virus replication. Furthermore, the newly identified gene 50 transcripts may also act as negative regulators that modulate RTA expression. IMPORTANCE The viral transcription factor RTA, encoded by open reading frame 50 (Orf50), is well conserved among all known gammaherpesviruses and is essential for both virus replication and reactivation from latently infected cells. Previous studies have shown that regulation of gene 50 transcription is complex. The studies reported here describe the presence of additional alternatively initiated, spliced transcripts that encode RTA. Understanding how expression of this essential viral gene product is regulated may identify new strategies for interfering with infection in the setting of gammaherpesvirus-induced diseases

Extensive Liquid Meltwater Storage in Firn Within the Greenland Ice Sheet

The accelerating loss of mass from the Greenland ice sheet is a major contribution to current sea level rise. Increased melt water runoff is responsible for half of Greenlands mass loss increase. Surface melt has been increasing in extent and intensity, setting a record for surface area melt and runoff in 2012. The mechanisms and timescales involved in allowing surface melt water to reach the ocean where it can contribute to sea level rise are poorly understood. The potential capacity to store this water in liquid or frozen form in the firn (multi-year snow layer) is significant, and could delay its sea-level contribution. Here we describe direct observation of water within a perennial firn aquifer persisting throughout the winter in the southern ice sheet,where snow accumulation and melt rates are high. This represents a previously unknown storagemode for water within the ice sheet. Ice cores, groundairborne radar and a regional climatemodel are used to estimate aquifer area (70 plue or minus 10 x 10(exp 3) square kilometers ) and water table depth (5-50 m). The perennial firn aquifer represents a new glacier facies to be considered 29 in future ice sheet mass 30 and energy budget calculations

Young Adults’ Conceptions of the Sacred in Finland Today

Peer reviewe

1951: Abilene Christian College Bible Lectures - Full Text

Delivered in the Auditorium of Abilene Christian College Abilene, Texas February 18-22, 1951 Price, $3.00 FIRM FOUNDATION PUBLISHING HOUSE Austin, Texa

Violent video games and aggressive behavior: mortality salience and the hostile attribution bias

Research indicates that one of the most popular forms of media, violent video games can increase aggressive behavior and cognitions (Anderson & Bushman, 2001). Prior research has examined the effects of these media using the General Aggression Model (GAM; Anderson & Bushman, 2001; Bushman & Anderson, 2002). The current study examines an alternative method by which video games (and other forms of media) can encourage aggressive behaviors, via mortality salience effects. The current study used a 2 (mortality salience vs absence) x 2 (violent video games vs nonviolent video games) experimental design to examine the role of mortality salience and violent video game primes on aggressive cognitions and endorsed harm towards out-group members. Participants were either primed with mortality salience (or not), viewed footage from a violent (experimental) or non-violent (control) game, and completed dependent measures assessing aggressive cognitions and violence towards out-group members. Results indicate that participants exposed to violent media and mortality salience primes endorse more harm towards out-group members, and exhibit more aggressive cognitions. Emotion regulation moderates the relationship between hostile attribution biases and aggressive cognitions, as well as the relation between death-thought accessibility and aggressive cognitions, providing a protective effect

1957: Abilene Christian College Bible Lectures - Full Text

Featuring the Theme CHRIST IN YOU -THE HOPE OF GLORY PRICE: $3.00 FIRM FOUNDATION PUBLISHING HOUSE BOX 77 AUSTIN, TEXA

1954: Abilene Christian College Bible Lectures - Full Text

Preface The 1954 Abilene Christian College Lectureship was one of the best attended and most successful in the history of the school. Considerable interest was manifested in the timely theme, “Overcoming Dangerous Tendencies,” and in the two special topics, “Ways and Means of Doing Mission Work,” and “Caring For Widows and Orphans.” The reports from the mission fields were highly stimulating, and all in all, the speeches were unusually high caliber. The Panel Discussions were also on timely subjects and well presented. They received a warm response, as did also the thirty classes that were conducted each day. These classes were taught by persons expert in their particular fields, and covered a wide range of interests to the faithful, working Christian. We at Abilene Christian College predict for this book of Lectures a wide and hearty reception, and believe that its reading will issue in profit to the individual and to the church at large. J. D. Thomas Lectureship Directo

Utopianism and social change: materialism, conflict and pluralism

This article discusses criticisms that utopia and utopianism undermine social change. It outlines two types of utopia, future and current. It argues against claims that utopianism is idealist and steps aside from material and conflictual dimensions of society and so undermines change, proposing that utopias are material and conflictual and contribute to change. Against liberal and pluralist criticisms that utopianism is end-ist and totalitarian and terminates diversity and change it argues that utopianism can encompass liberal and pluralist dimensions and be dynamic rather than static. It is proposed that criticisms create false conflations and dichotomies. Critical perspectives, rather than being rejected, are answered on their own terms. Utopianism, it is argued, is part of change, materially, now and in the future